// MIT License

// Copyright (c) 2019 Erin Catto

// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:

// The above copyright notice and this permission notice shall be included in all
// copies or substantial portions of the Software.

// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
// SOFTWARE.

#include "test.h"

class BodyTypes : public Test
{
public:
    BodyTypes()
    {
        b2Body* ground = NULL;
        {
            b2BodyDef bd;
            ground = m_world->CreateBody(&bd);

            b2EdgeShape shape;
            shape.SetTwoSided(b2Vec2(-20.0f, 0.0f), b2Vec2(20.0f, 0.0f));

            b2FixtureDef fd;
            fd.shape = &shape;

            ground->CreateFixture(&fd);
        }

        // Define attachment
        {
            b2BodyDef bd;
            bd.type = b2_dynamicBody;
            bd.position.Set(0.0f, 3.0f);
            m_attachment = m_world->CreateBody(&bd);

            b2PolygonShape shape;
            shape.SetAsBox(0.5f, 2.0f);
            m_attachment->CreateFixture(&shape, 2.0f);
        }

        // Define platform
        {
            b2BodyDef bd;
            bd.type = b2_dynamicBody;
            bd.position.Set(-4.0f, 5.0f);
            m_platform = m_world->CreateBody(&bd);

            b2PolygonShape shape;
            shape.SetAsBox(0.5f, 4.0f, b2Vec2(4.0f, 0.0f), 0.5f * b2_pi);

            b2FixtureDef fd;
            fd.shape    = &shape;
            fd.friction = 0.6f;
            fd.density  = 2.0f;
            m_platform->CreateFixture(&fd);

            b2RevoluteJointDef rjd;
            rjd.Initialize(m_attachment, m_platform, b2Vec2(0.0f, 5.0f));
            rjd.maxMotorTorque = 50.0f;
            rjd.enableMotor    = true;
            m_world->CreateJoint(&rjd);

            b2PrismaticJointDef pjd;
            pjd.Initialize(ground, m_platform, b2Vec2(0.0f, 5.0f), b2Vec2(1.0f, 0.0f));

            pjd.maxMotorForce    = 1000.0f;
            pjd.enableMotor      = true;
            pjd.lowerTranslation = -10.0f;
            pjd.upperTranslation = 10.0f;
            pjd.enableLimit      = true;

            m_world->CreateJoint(&pjd);

            m_speed = 3.0f;
        }

        // Create a payload
        {
            b2BodyDef bd;
            bd.type = b2_dynamicBody;
            bd.position.Set(0.0f, 8.0f);
            b2Body* body = m_world->CreateBody(&bd);

            b2PolygonShape shape;
            shape.SetAsBox(0.75f, 0.75f);

            b2FixtureDef fd;
            fd.shape    = &shape;
            fd.friction = 0.6f;
            fd.density  = 2.0f;

            body->CreateFixture(&fd);
        }
    }

    void Keyboard(int key) override
    {
        switch (key)
        {
        case GLFW_KEY_D:
            m_platform->SetType(b2_dynamicBody);
            break;

        case GLFW_KEY_S:
            m_platform->SetType(b2_staticBody);
            break;

        case GLFW_KEY_K:
            m_platform->SetType(b2_kinematicBody);
            m_platform->SetLinearVelocity(b2Vec2(-m_speed, 0.0f));
            m_platform->SetAngularVelocity(0.0f);
            break;
        }
    }

    void Step(Settings& settings) override
    {
        // Drive the kinematic body.
        if (m_platform->GetType() == b2_kinematicBody)
        {
            b2Vec2 p = m_platform->GetTransform().p;
            b2Vec2 v = m_platform->GetLinearVelocity();

            if ((p.x < -10.0f && v.x < 0.0f) || (p.x > 10.0f && v.x > 0.0f))
            {
                v.x = -v.x;
                m_platform->SetLinearVelocity(v);
            }
        }

        Test::Step(settings);

        DrawString(5, m_textLine, "Keys: (d) dynamic, (s) static, (k) kinematic");
    }

    static Test* Create() { return new BodyTypes; }

    b2Body* m_attachment;
    b2Body* m_platform;
    float m_speed;
};

static int testIndex = RegisterTest("Examples", "Body Types", BodyTypes::Create);
